Node outputs orientation data not provided by Duro or Piksi
rokusottervanger opened this issue · 2 comments
rokusottervanger commented
According to the docs of libsbp, the orientation data published in the "pose" and "odom" messages from the Duro driver node are not provided by Duro or Piksi: https://swift-nav.github.io/libsbp/c/build/docs/html/group__orientation.html
Only the baseline direction is provided, but this is not to be confused with the Duro 's orientation.
horverno commented
Orientation does not rely on using the baseline heading (0x020F), instead the vehicle body frame's orientation quaternion (0x0220) is used.
rokusottervanger commented
According to the manual "This message will only be available in future INS versions
of Swift Products and is not produced by Piksi Multi or Duro."